?url_ver=Z39.88-2004&rft_id=10.15676%2Fijeei.2018.10.1.11&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.au=Yaro%2C+A.S.&rft.aulast=Yaro&rft.aufirst=A.S.&rft.pages=153-169&rft.atitle=Position+estimation+error+performance+model+for+a+minimum+configuration+3-D+multilateration&rft.issue=1&rft.volume=10&rft.issn=20856830&rft.date=2018&rft.title=International+Journal+on+Electrical+Engineering+and+Informatics&rft.genre=article